WO2017036340A1 - Outil de suivi optique permettant la navigation d'une intervention chirurgicale - Google Patents

Outil de suivi optique permettant la navigation d'une intervention chirurgicale Download PDF

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Publication number
WO2017036340A1
WO2017036340A1 PCT/CN2016/096661 CN2016096661W WO2017036340A1 WO 2017036340 A1 WO2017036340 A1 WO 2017036340A1 CN 2016096661 W CN2016096661 W CN 2016096661W WO 2017036340 A1 WO2017036340 A1 WO 2017036340A1
Authority
WO
WIPO (PCT)
Prior art keywords
reflective
ball
mounting base
tracking tool
positioning
Prior art date
Application number
PCT/CN2016/096661
Other languages
English (en)
Chinese (zh)
Inventor
徐进
冯云
Original Assignee
北京天智航医疗科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京天智航医疗科技股份有限公司 filed Critical 北京天智航医疗科技股份有限公司
Priority to ES16840769T priority Critical patent/ES2866942T3/es
Priority to US15/756,355 priority patent/US10925678B2/en
Priority to EP16840769.0A priority patent/EP3345565B1/fr
Publication of WO2017036340A1 publication Critical patent/WO2017036340A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3983—Reference marker arrangements for use with image guided surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25—User interfaces for surgical systems

Definitions

  • the invention relates to an optical tracking tool for navigation surgery, belonging to the technical field of computer assisted surgery.
  • the optical tracking device for clinical navigation is mainly an optical positioning and tracking system produced by NDI of Canada.
  • the positioning principle of this type of system is: the infrared light emitted by the binocular position sensor is irradiated on the surgical equipment or the instrument with the tracking tool, and the small ball (also called the reflective ball) on the tracking tool that reflects the infrared light will be the infrared light. Reflected back to the position sensor and calculated by the built-in software of the system to obtain the position coordinates of the tracking tool (including the position and angle of the tracking tool), so as to realize the positioning and tracking of the corresponding surgical equipment and instruments.
  • the tracking tool is a key component in the tracking of the surgical equipment and the instrument, and the accuracy of the position coordinates of the tracking tool calculated by the system determines the accuracy of the surgical navigation system.
  • Currently used tracking tools include 3 to 4 reflective spheres that are coplanar (the plane is called a positioning plane).
  • the optical tracking tool has only one positioning surface. The disadvantage of this design is that the system tracking range is small, usually less than ⁇ 90.
  • the accuracy of the position coordinate of the tracking tool obtained by the optical tracking system is related to the angle of the positioning surface of the tracking tool and the optical axis of the binocular position sensor, the greater the angle, the worse the accuracy, and the accuracy of the surgical navigation system using the tracking tool is difficult to ensure.
  • an object of the present invention is to provide an optical tracking tool for navigation surgery that has high positioning accuracy and a large tracking range.
  • an optical tracking tool for navigation surgery characterized in that it comprises a mounting base on which two to six supporting surfaces are arranged, Two or four reflective balls are mounted on each of the support surfaces, and four of the reflective balls on the same support surface or four of the reflective balls on two adjacent support surfaces are formed.
  • a positioning surface, the angle of the surface normal vector of two adjacent positioning surfaces is 90° to 140°.
  • the reflective ball and the support surface are connected by a reflective ball mounting base;
  • the reflective ball mounting base comprises a ball holder, a sealing rubber ring and an annular cover plate;
  • the ball holder is fixedly connected a support surface;
  • the reflective ball is composed of two hemispheres having unequal diameters, wherein the large-diameter hemisphere portion of the reflective ball is lifted by the ball holder and then passed through the ball holder
  • the annular cover plate is clamped, and a small diameter hemispherical portion of the reflective ball projects from the annular cover;
  • the sealing rubber ring is disposed between the ball holder and a large diameter hemispherical portion of the reflective ball.
  • An interface to the surgical tool and/or the surgical robot is provided on the mounting base.
  • the present invention has the following advantages due to the above technical solution: 1. Compared with the prior art tracking tool that forms a single positioning surface by four reflective balls, the invention can significantly expand the effective tracking range of the system and improve the system. Precision. 2.
  • the invention proposes a connection structure between the reflective ball and the support surface, which can realize precise positioning connection between the reflective ball and the support surface. 3.
  • the invention has simple structure and reliable performance, and can be widely applied to tracking and positioning of clinical surgical robots.
  • Embodiment 1 is a schematic structural view of Embodiment 1;
  • Embodiment 2 is a schematic structural view of Embodiment 2.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • the embodiment includes a mounting base 1 for connecting with a robot end or a robot front end device.
  • Two mounting surfaces 2 are disposed on the mounting base 1 , and each supporting surface 2 is mounted thereon.
  • the quadrilateral with the four reflective balls 3 on the same supporting surface 2 as an end point constitutes a positioning surface 5, and the angle of the surface normal vector of the adjacent two positioning surfaces 5 is 90° to 140°, and The shape or size of the positioning faces 5 are different.
  • the reflective ball mounting base 4 includes a ball holder 8, a sealing rubber ring 9, and an annular cover plate 10, wherein the ball holder 8 is fixedly coupled to the support surface 2.
  • the reflective ball 3 in this embodiment is composed of two hemispheres having unequal diameters, wherein the large-diameter hemisphere portion is supported by the ball holder 8 and then buckled on the ball holder 8.
  • the annular cover 10 is secured, a small diameter hemispherical portion projects from the annular cover 10, and a sealing bead 9 is disposed between the ball rest 8 and the large diameter hemispherical portion.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • the embodiment includes a mounting base 1 for connecting with a robot end or a robot front end.
  • the mounting base 1 is provided with six supporting surfaces 2, each of which is mounted on the supporting surface 2.
  • a quadrangular shape with four reflective balls 3 located on two adjacent supporting surfaces 2 as an end point constitutes a positioning surface 5, and the angle of the surface normal vector of the adjacent two positioning surfaces 5 is 90° to 140°. Also, the shape or size of any two positioning faces 5 is different.
  • the mounting base 1 of the above two embodiments is provided with an interface 7 connected to the surgical tool and/or the surgical robot.
  • the present invention further includes a modification based on the above embodiment, such as the number of support faces 2 may also be three, four or five, and two or four are mounted on each support face 2
  • the reflecting balls 3 constitute a positioning surface 5 by four reflecting balls 3 on the same supporting surface 2 or quadrangles having four reflecting balls 3 on the adjacent two supporting faces 2 as the top end.
  • the reflective balls 3 in the first embodiment and the second embodiment and their mounting manners are interchangeable.
  • the invention can also be applied to other devices or instruments in the surgical navigation system that require positioning by changing the shape or arrangement of the mounting base 1 .
  • the tool definition of the present invention is characterized by the fact that when the number of the reflective balls 3 mounted on the single support surface 2 is "4", the support surface 2 is defined as one in the tool definition. Independent positioning surface 5; when the number of the reflective balls 3 mounted on the single support surface 2 is "2", the adjacent two support surfaces 2 are collectively defined as one positioning surface 5 in the tool definition, and each support surface 2 It can be shared by different positioning faces 5.
  • the position and geometric size of the four reflective balls installed are generated by the programmed positioning surface generation algorithm, and finally the generated data is detected by the tool-specific detection software for the detection of the mutuality of the two positioning surfaces, thereby ensuring the design.
  • the tool meets the specific requirements of the optical positioning system.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un outil de suivi optique permettant la navigation d'une intervention chirurgicale, comprenant une base de montage (1). La base de montage (1) est dotée de deux à six faces de support (2). Deux ou quatre billes réfléchissantes (3) sont disposées sur chacune des faces de support (2). Une surface de positionnement (5) est formée par les quatre billes réfléchissantes (3) situées sur la même face de support (2) ou les quatre billes réfléchissantes (3) respectivement situées sur deux faces de support adjacentes (2). Un angle inclus entre la surface des vecteurs normaux de deux surfaces de positionnement adjacents (5) est de 90° à 140 °. Par comparaison avec un outil de suivi ayant une seule surface de positionnement formée par quatre billes réfléchissantes dans une technique existante, l'outil de suivi optique peut considérablement élargir une plage de suivi efficace d'un système, ce qui permet d'améliorer la précision du système.
PCT/CN2016/096661 2015-08-31 2016-08-25 Outil de suivi optique permettant la navigation d'une intervention chirurgicale WO2017036340A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
ES16840769T ES2866942T3 (es) 2015-08-31 2016-08-25 Herramienta de seguimiento óptico para la navegación de una intervención quirúrgica
US15/756,355 US10925678B2 (en) 2015-08-31 2016-08-25 Optical tracking tool for navigating surgery
EP16840769.0A EP3345565B1 (fr) 2015-08-31 2016-08-25 Outil de suivi optique permettant la navigation d'une intervention chirurgicale

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201510547376.9A CN105147395B (zh) 2015-08-31 2015-08-31 一种用于导航手术的光学跟踪工具
CN201510547376.9 2015-08-31

Publications (1)

Publication Number Publication Date
WO2017036340A1 true WO2017036340A1 (fr) 2017-03-09

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Family Applications (1)

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PCT/CN2016/096661 WO2017036340A1 (fr) 2015-08-31 2016-08-25 Outil de suivi optique permettant la navigation d'une intervention chirurgicale

Country Status (5)

Country Link
US (1) US10925678B2 (fr)
EP (1) EP3345565B1 (fr)
CN (2) CN109938839B (fr)
ES (1) ES2866942T3 (fr)
WO (1) WO2017036340A1 (fr)

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US10695133B2 (en) 2016-07-12 2020-06-30 Mobius Imaging Llc Multi-stage dilator and cannula system and method
US10828112B2 (en) 2016-10-21 2020-11-10 Mobius Imaging Llc Methods and systems for setting trajectories and target locations for image guided surgery
US10959783B2 (en) 2015-04-15 2021-03-30 Mobius Imaging, Llc Integrated medical imaging and surgical robotic system
US11033341B2 (en) 2017-05-10 2021-06-15 Mako Surgical Corp. Robotic spine surgery system and methods
US11065069B2 (en) 2017-05-10 2021-07-20 Mako Surgical Corp. Robotic spine surgery system and methods
US11103990B2 (en) 2016-09-16 2021-08-31 Mobius Imaging Llc System and method for mounting a robotic arm in a surgical robotic system
US11534211B2 (en) 2017-10-04 2022-12-27 Mobius Imaging Llc Systems and methods for performing lateral-access spine surgery
US11660145B2 (en) 2017-08-11 2023-05-30 Mobius Imaging Llc Method and apparatus for attaching a reference marker to a patient
US11678939B2 (en) 2017-10-05 2023-06-20 Mobius Imaging Llc Methods and systems for performing computer assisted surgery
US11751948B2 (en) 2016-10-25 2023-09-12 Mobius Imaging, Llc Methods and systems for robot-assisted surgery

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CN109938839B (zh) 2015-08-31 2024-03-26 北京天智航医疗科技股份有限公司 一种用于导航手术的光学跟踪工具
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CN106539625A (zh) * 2017-01-10 2017-03-29 北京积水潭医院 一种手术机器人光学跟踪器定位装置
CN108535734B (zh) * 2018-04-12 2024-02-09 上海逸动医学科技有限公司 光学定位结构、光学定位系统及方法
CN109674535B (zh) * 2018-12-28 2020-09-04 北京诺亦腾科技有限公司 一种位置姿态导航器具
CN110123456A (zh) * 2019-05-15 2019-08-16 北京天智航医疗科技股份有限公司 示踪设备和定位系统
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CN111467050B (zh) * 2020-05-08 2020-11-24 杭州键嘉机器人有限公司 一种骨科手术机器人标定反光球基座
CN112022351B (zh) * 2020-09-28 2023-03-24 南京普爱医疗设备股份有限公司 一种手术导航系统多面体手术工具定义方法
CN112971980A (zh) * 2021-03-02 2021-06-18 北京长木谷医疗科技有限公司 用于髋臼磨挫的导航动力系统及其使用方法
CN112971986A (zh) * 2021-03-31 2021-06-18 南京逸动智能科技有限责任公司 一种用于导航手术的示踪器及定位方法
CN113116525B (zh) * 2021-04-28 2021-12-03 北京长木谷医疗科技有限公司 用于导航手术动力系统的光学跟踪结构
CN114404040A (zh) * 2021-12-22 2022-04-29 苏州微创畅行机器人有限公司 安装构件、标记构件以及光学跟踪组件和装置
CN114391975A (zh) * 2022-01-13 2022-04-26 北京罗森博特科技有限公司 定位标尺
CN114848169B (zh) * 2022-07-05 2022-09-30 上海嘉奥信息科技发展有限公司 微创手术人体追踪布置系统及方法
CN116549121B (zh) * 2023-04-27 2024-04-02 苏州铸正机器人有限公司 一种机械臂末端工具快装固定装置
CN116763473A (zh) * 2023-08-16 2023-09-19 深圳卡尔文科技有限公司 一种种植机器人多面式定位装置

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Publication number Priority date Publication date Assignee Title
US10959783B2 (en) 2015-04-15 2021-03-30 Mobius Imaging, Llc Integrated medical imaging and surgical robotic system
US11857269B2 (en) 2015-04-15 2024-01-02 Mobius Imaging, Llc Integrated medical imaging and surgical robotic system
US10695133B2 (en) 2016-07-12 2020-06-30 Mobius Imaging Llc Multi-stage dilator and cannula system and method
US11534244B2 (en) 2016-07-12 2022-12-27 Mobius Imaging Llc Multi-stage dilator and cannula system and method
US11858127B2 (en) 2016-09-16 2024-01-02 Mobius Imaging, Llc System and method for mounting a robotic arm in a surgical robotic system
US11103990B2 (en) 2016-09-16 2021-08-31 Mobius Imaging Llc System and method for mounting a robotic arm in a surgical robotic system
US10828112B2 (en) 2016-10-21 2020-11-10 Mobius Imaging Llc Methods and systems for setting trajectories and target locations for image guided surgery
US11877808B2 (en) 2016-10-21 2024-01-23 Mobius Imaging, Llc Methods and systems for setting trajectories and target locations for image guided surgery
US11751948B2 (en) 2016-10-25 2023-09-12 Mobius Imaging, Llc Methods and systems for robot-assisted surgery
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US11065069B2 (en) 2017-05-10 2021-07-20 Mako Surgical Corp. Robotic spine surgery system and methods
US11033341B2 (en) 2017-05-10 2021-06-15 Mako Surgical Corp. Robotic spine surgery system and methods
US11937889B2 (en) 2017-05-10 2024-03-26 Mako Surgical Corp. Robotic spine surgery system and methods
US11660145B2 (en) 2017-08-11 2023-05-30 Mobius Imaging Llc Method and apparatus for attaching a reference marker to a patient
US11534211B2 (en) 2017-10-04 2022-12-27 Mobius Imaging Llc Systems and methods for performing lateral-access spine surgery
US11678939B2 (en) 2017-10-05 2023-06-20 Mobius Imaging Llc Methods and systems for performing computer assisted surgery
US11950858B2 (en) 2017-10-05 2024-04-09 Mobius Imaging, Llc Systems for performing computer assisted surgery

Also Published As

Publication number Publication date
CN105147395A (zh) 2015-12-16
EP3345565B1 (fr) 2021-03-10
US10925678B2 (en) 2021-02-23
ES2866942T3 (es) 2021-10-20
CN109938839B (zh) 2024-03-26
CN109938839A (zh) 2019-06-28
EP3345565A1 (fr) 2018-07-11
CN105147395B (zh) 2019-04-02
US20180250077A1 (en) 2018-09-06
EP3345565A4 (fr) 2019-04-17

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